Autonomous floor-cleaning robot

ABSTRACT

An autonomous floor-cleaning robot comprising a housing infrastructure including a chassis, a power subsystem; for providing the energy to power the autonomous floor-cleaning robot, a motive subsystem operative to propel the autonomous floor-cleaning robot for cleaning operations, a command and control subsystem operative to control the autonomous floor-cleaning robot to effect cleaning operations, and a self-adjusting cleaning head subsystem that includes a deck mounted in pivotal combination with the chassis, a brush assembly mounted in combination with the deck and powered by the motive subsystem to sweep up particulates during cleaning operations, a vacuum assembly disposed in combination with the deck and powered by the motive subsystem to ingest particulates during cleaning operations, and a deck adjusting subassembly mounted in combination with the motive subsystem for the brush assembly, the deck, and the chassis that is automatically operative in response to an increase in brush torque in said brush assembly to pivot the deck with respect to said chassis. The autonomous floor-cleaning robot also includes a side brush assembly mounted in combination with the chassis and powered by the motive subsystem to entrain particulates outside the periphery of the housing infrastructure and to direct such particulates towards the self-adjusting cleaning head subsystem.

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The subject matter of this application claims priority from U.S.Provisional Application Serial No. 60/345,764 filed Jan. 3, 2002,entitled CLEANING MECHANISMS FOR AUTONOMOUS ROBOT. The subject matter ofthis application is also related to commonly-owned, co-pending U.S.patent application Ser. Nos. 09/768,773, filed Jan. 24, 2001, entitledROBOT OBSTACLE DETECTION SYSTEM; 10/167,851, filed Jun. 12, 2002,entitled METHOD AND SYSTEM FOR ROBOT LOCALIZATION AND CONFINEMENT; and,10/056,804, filed Jan. 24, 2002, entitled METHOD AND SYSTEM FORMULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT.

BACKGROUND OF THE INVENTION

[0002] (1) Field of the Invention

[0003] The present invention relates to cleaning devices, and moreparticularly, to an autonomous floor-cleaning robot that comprises aself-adjustable cleaning head subsystem that includes a dual-stage brushassembly having counter-rotating, asymmetric brushes and an adjacent,but independent, vacuum assembly such that the cleaning capability andefficiency of the self-adjustable cleaning head subsystem is optimizedwhile concomitantly minimizing the power requirements thereof. Theautonomous floor-cleaning robot further includes a side brush assemblyfor directing particulates outside the envelope of the robot into theself-adjustable cleaning head subsystem.

[0004] (2) Description of Related Art

[0005] Autonomous robot cleaning devices are known in the art. Forexample, U.S. Pat. Nos. 5,940,927 and 5,781,960 disclose an AutonomousSurface Cleaning Apparatus and a Nozzle Arrangement for a Self-GuidingVacuum Cleaner. One of the primary requirements for an autonomouscleaning device is a self-contained power supply—the utility of anautonomous cleaning device would be severely degraded, if not outrighteliminated, if such an autonomous cleaning device utilized a power cordto tap into an external power source.

[0006] And, while there have been distinct improvements in theenergizing capabilities of self-contained power supplies such asbatteries, today's self-contained power supplies are still time-limitedin providing power. Cleaning mechanisms for cleaning devices such asbrush assemblies and vacuum assemblies typically require large powerloads to provide effective cleaning capability. This is particularlytrue where brush assemblies and vacuum assemblies are configured ascombinations, since the brush assembly and/or the vacuum assembly ofsuch combinations typically have not been designed or configured forsynergic operation.

[0007] A need exists to provide an autonomous cleaning device that hasbeen designed and configured to optimize the cleaning capability andefficiency of its cleaning mechanisms for synergic operation whileconcomitantly minimizing or reducing the power requirements of suchcleaning mechanisms.

BRIEF SUMMARY OF THE INVENTION

[0008] One object of the present invention is to provide a cleaningdevice that is operable without human intervention to clean designatedareas.

[0009] Another object of the present invention is to provide such anautonomous cleaning device that is designed and configured to optimizethe cleaning capability and efficiency of its cleaning mechanisms forsynergic operations while concomitantly minimizing the powerrequirements of such mechanisms.

[0010] These and other objects of the present invention are provided byone embodiment autonomous floor-cleaning robot according to the presentinvention that comprises a housing infrastructure including a chassis, apower subsystem; for providing the energy to power the autonomousfloor-cleaning robot, a motive subsystem operative to propel theautonomous floor-cleaning robot for cleaning operations, a controlmodule operative to control the autonomous floor-cleaning robot toeffect cleaning operations, and a self-adjusting cleaning head subsystemthat includes a deck mounted in pivotal combination with the chassis, abrush assembly mounted in combination with the deck and powered by themotive subsystem to sweep up particulates during cleaning operations, avacuum assembly disposed in combination with the deck and powered by themotive subsystem to ingest particulates during cleaning operations, anda deck height adjusting subassembly mounted in combination with themotive subsystem for the brush assembly, the deck, and the chassis thatis automatically operative in response to a change in torque in saidbrush assembly to pivot the deck with respect to said chassis andthereby adjust the height of the brushes from the floor. The autonomousfloor-cleaning robot also includes a side brush assembly mounted incombination with the chassis and powered by the motive subsystem toentrain particulates outside the periphery of the housing infrastructureand to direct such particulates towards the self-adjusting cleaning headsubsystem.

BRIEF DESCRIPTION OF THE DRAWINGS

[0011] A more complete understanding of the present invention and theattendant features and advantages thereof may be had by reference to thefollowing detailed description of the invention when considered inconjunction with the accompanying drawings wherein:

[0012]FIG. 1 is a schematic representation of an autonomousfloor-cleaning robot according to the present invention.

[0013]FIG. 2 is a perspective view of one embodiment of an autonomousfloor-cleaning robot according to the present invention.

[0014]FIG. 2A is a bottom plan view of the autonomous floor-cleaningrobot of FIG. 2.

[0015]FIG. 3A is a top, partially-sectioned plan view, with coverremoved, of another embodiment of an autonomous floor-cleaning robotaccording to the present invention.

[0016]FIG. 3B is a bottom, partially-section plan view of the autonomousfloor-cleaning robot embodiment of FIG. 3A.

[0017]FIG. 3C is a side, partially sectioned plan view of the autonomousfloor-cleaning robot embodiment of FIG. 3A.

[0018]FIG. 4A is a top plan view of the deck and chassis of theautonomous floor-cleaning robot embodiment of FIG. 3A.

[0019]FIG. 4B is a cross-sectional view of FIG. 4A taken along line B-Bthereof.

[0020]FIG. 4C is a perspective view of the deck-adjusting subassembly ofautonomous floor-cleaning robot embodiment of FIG. 3A.

[0021]FIG. 5A is a first exploded perspective view of a dust cartridgefor the autonomous floor-cleaning robot embodiment of FIG. 3A.

[0022]FIG. 5B is a second exploded perspective view of the dustcartridge of FIG. 5A.

[0023]FIG. 6 is a perspective view of a dual-stage brush assemblyincluding a flapper brush and a main brush for the autonomousfloor-cleaning robot embodiment of FIG. 3A.

[0024]FIG. 7A is a perspective view illustrating the blades and vacuumcompartment for the autonomous floor cleaning robot embodiment of FIG.3A.

[0025]FIG. 7B is a partial perspective exploded view of the autonomousfloor-cleaning robot embodiment of FIG. 7A.

DETAILED DESCRIPTION OF THE INVENTION

[0026] Referring now to the drawings where like reference numeralsidentify corresponding or similar elements throughout the several views,FIG. 1 is a schematic representation of an autonomous floor-cleaningrobot 10 according to the present invention. The robot 10 comprises ahousing infrastructure 20, a power subsystem 30, a motive subsystem 40,a sensor subsystem 50, a control module 60, a side brush assembly 70,and a self-adjusting cleaning head subsystem 80. The power subsystem 30,the motive subsystem 40, the sensor subsystem 50, the control module 60,the side brush assembly 70, and the self-adjusting cleaning headsubsystem 80 are integrated in combination with the housinginfrastructure 20 of the robot 10 as described in further detail in thefollowing paragraphs.

[0027] In the following description of the autonomous floor-cleaningrobot 10, use of the terminology “forward/fore” refers to the primarydirection of motion of the autonomous floor-cleaning robot 10, and theterminology fore-aft axis (see reference characters “FA” in FIGS. 3A,3B) defines the forward direction of motion (indicated by arrowhead ofthe fore-aft axis FA), which is coincident with the fore-aft diameter ofthe robot 10.

[0028] Referring to FIGS. 2, 2A, and 3A-3C, the housing infrastructure20 of the robot 10 comprises a chassis 21, a cover 22, a displaceablebumper 23, a nose wheel subassembly 24, and a carrying handle 25. Thechassis 21 is preferably molded from a material such as plastic as aunitary element that includes a plurality of preformed wells, recesses,and structural members for, inter alia, mounting or integrating elementsof the power subsystem 30, the motive subsystem 40, the sensor subsystem50, the side brush assembly 70, and the self-adjusting cleaning headsubsystem 80 in combination with the chassis 21. The cover 22 ispreferably molded from a material such as plastic as a unitary elementthat is complementary in configuration with the chassis 21 and providesprotection of and access to elements/components mounted to the chassis21 and/or comprising the self-adjusting cleaning head subsystem 80. Thechassis 21 and the cover 22 are detachably integrated in combination byany suitable means, e.g., screws, and in combination, the chassis 21 andcover 22 form a structural envelope of minimal height having a generallycylindrical configuration that is generally symmetrical along thefore-aft axis FA.

[0029] The displaceable bumper 23, which has a generally arcuateconfiguration, is mounted in movable combination at the forward portionof the chassis 21 to extend outwardly therefrom, i.e., the normaloperating position. The mounting configuration of the displaceablebumper is such that the bumper 23 is displaced towards the chassis 21(from the normal operating position) whenever the bumper 23 encounters astationary object or obstacle of predetermined mass, i.e., the displacedposition, and returns to the normal operating position when contact withthe stationary object or obstacle is terminated (due to operation of thecontrol module 60 which, in response to any such displacement of thebumper 23, implements a “bounce” mode that causes the robot 10 to evadethe stationary object or obstacle and continue its cleaning routine,e.g., initiate a random—or weighted-random—turn to resume forwardmovement in a different direction). The mounting configuration of thedisplaceable bumper 23 comprises a pair of rotatable support members23RSM, which are operative to facilitate the movement of the bumper 23with respect to the chassis 21.

[0030] The pair of rotatable support members 23RSM are symmetricallymounted about the fore-aft axis FA of the autonomous floor-cleaningrobot 10 proximal the center of the displaceable bumper 23 in aV-configuration. One end of each support member 23RSM is rotatablymounted to the chassis 21 by conventional means, e.g., pins/dowel andsleeve arrangement, and the other end of each support member 23RSM islikewise rotatably mounted to the displaceable bumper 23 by similarconventional means. A biasing spring (not shown) is disposed incombination with each rotatable support member 23RSM and is operative toprovide the biasing force necessary to return the displaceable bumper 23(through rotational movement of the support members 23RSM) to the normaloperating position whenever contact with a stationary object or obstacleis terminated.

[0031] The embodiment described herein includes a pair of bumper arms23BA that are symmetrically mounted in parallel about the fore-aftdiameter FA of the autonomous floor-cleaning robot 10 distal the centerof the displaceable bumper 23. These bumper arms 23BA do not per seprovide structural support for the displaceable bumper 23, but ratherare a part of the sensor subsystem 50 that is operative to determine thelocation of a stationary object or obstacle encountered via the bumper23. One end of each bumper arm 23BA is rigidly secured to thedisplaceable bumper 23 and the other end of each bumper arm 23BA ismounted in combination with the chassis 21 in a manner, e.g., a slotarrangement such that, during an encounter with a stationary object orobstacle, one or both bumper arms 23BA are linearly displaceable withrespect to the chassis 21 to activate an associated sensor, e.g., IRbreak beam sensor, mechanical switch, capacitive sensor, which providesa corresponding signal to the control module 60 to implement the“bounce” mode. Further details regarding the operation of this aspect ofthe sensor subsystem 50, as well as alternative embodiments of sensorshaving utility in detecting contact with or proximity to stationaryobjects or obstacles can be found in commonly-owned, co-pending U.S.patent application Ser. No. 10/056,804, filed Jan. 24, 2002, entitledMETHOD AND SYSTEM FOR MULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT. Thenose-wheel subassembly 24 comprises a wheel 24W rotatably mounted incombination with a clevis member 24CM that includes a mounting shaft.The clevis mounting shaft 24CM is disposed in a well in the chassis 21at the forward end thereof on the fore-aft diameter of the autonomousfloor-cleaning robot 10. A biasing spring 24BS (hidden behind a leg ofthe clevis member 24CM in FIG. 3C) is disposed in combination with theclevis mounting shaft 24CM and operative to bias the nose-wheelsubassembly 24 to an ‘extended’ position whenever the nose-wheelsubassembly 24 loses contact with the surface to be cleaned. Duringcleaning operations, the weight of the autonomous floor-cleaning robot10 is sufficient to overcome the force exerted by the biasing spring24BS to bias the nose-wheel subassembly 24 to a partially retracted oroperating position wherein the wheel rotates freely over the surface tobe cleaned. Opposed triangular or conical wings 24TW extend outwardlyfrom the ends of the clevis member to prevent the side of the wheel fromcatching on low obstacle during turning movements of the autonomousfloor-cleaning robot 10. The wings 24TW act as ramps in sliding overbumps as the robot turns.

[0032] Ends 25E of the carrying handle 25 are secured in pivotalcombination with the cover 22 at the forward end thereof, centered aboutthe fore-aft axis FA of the autonomous floor-cleaning robot 10. With theautonomous floor-cleaning robot 10 resting on or moving over a surfaceto be cleaned, the carrying handle 25 lies approximately flush with thesurface of the cover 22 (the weight of the carrying handle 25, inconjunction with arrangement of the handle-cover pivot configuration, issufficient to automatically return the carrying handle 25 to this flushposition due to gravitational effects). When the autonomousfloor-cleaning robot 10 is picked up by means of the carrying handle 25,the aft end of the autonomous floor-cleaning robot 10 lies below theforward end of the autonomous floor-cleaning robot 10 so thatparticulate debris is not dislodged from the self-adjusting cleaninghead subsystem 80.

[0033] The power subsystem 30 of the described embodiment provides theenergy to power individual elements/components of the motive subsystem40, the sensor subsystem 50, the side brush assembly 70, and theself-adjusting cleaning head subsystem 80 and the circuits andcomponents of the control module 60 via associated circuitry 32-4, 32-5,32-7, 32-8, and 32-6, respectively (see FIG. 1) during cleaningoperations. The power subsystem 30 for the described embodiment of theautonomous floor-cleaning robot 10 comprises a rechargeable battery pack34 such as a NiMH battery pack. The rechargeable battery pack 34 ismounted in a well formed in the chassis 21 (sized specifically formounting/retention of the battery pack 34) and retained therein by anyconventional means, e.g., spring latches (not shown). The battery wellis covered by a lid 34L secured to the chassis 21 by conventional meanssuch as screws. Affixed to the lid 34L are friction pads 36 thatfacilitate stopping of the autonomous floor-cleaning robot 10 duringautomatic shutdown. The friction pads 36 aid in stopping the robot uponthe robot's attempting to drive over a cliff. The rechargeable batterypack 34 is configured to provide sufficient power to run the autonomousfloor-cleaning robot 10 for a period of sixty (60) to ninety (90)minutes on a full charge while meeting the power requirements of theelements/components comprising motive subsystem 40, the sensor subsystem50, the side brush assembly 70, the self-adjusting cleaning headsubsystem 80, and the circuits and components of the control module 60.

[0034] The motive subsystem 40 comprises the independent means that: (1)propel the autonomous floor-cleaning robot 10 for cleaning operations;(2) operate the side brush assembly 70; and (3) operate theself-adjusting cleaning head subsystem 80 during such cleaningoperations. Such independent means includes right and left main wheelsubassemblies 42A, 42B, each subassembly 42A, 42B having its ownindependently-operated motor 42A_(M), 42B_(M), respectively, anindependent electric motor 44 for the side brush assembly 70, and twoindependent electric motors 46, 48 for the self-adjusting brushsubsystem 80, one motor 46 for the vacuum assembly and one motor 48 forthe dual-stage brush assembly.

[0035] The right and left main wheel subassemblies 42A, 42B areindependently mounted in wells of the chassis 21 formed at opposed endsof the transverse diameter of the chassis 21 (the transverse diameter isperpendicular to the fore-aft axis FA of the robot 10). Mounting at thislocation provides the autonomous floor-cleaning robot 10 with anenhanced turning capability, since the main wheel subassemblies 42A, 42Bmotor can be independently operated to effect a wide range of turningmaneuvers, e.g., sharp turns, gradual turns, turns in place.

[0036] Each main wheel subassembly 42A, 42B comprises a wheel 42A_(W),42B_(W), rotatably mounted in combination with a clevis member 42A_(CM),42B_(CM). Each clevis member 42A_(CM), 42B_(CM) is pivotally mounted tothe chassis 21 aft of the wheel axis of rotation (see FIG. 3C whichillustrates the wheel axis of rotation 42A_(AR); the wheel axis ofrotation for wheel subassembly 42B, which is not shown, is identical),i.e., independently suspended. The aft pivot axis 42A_(PA), 42B_(PA)(see FIG. 3A) of the main wheel subassemblies 42A, 42B facilitates themobility of the autonomous floor-cleaning robot 10, i.e., pivotalmovement of the subassemblies 42A, 42B through a predetermined arc. Themotor 42A_(M), 42B_(M) associated with each main wheel subassembly 42A,42B is mounted to the aft end of the clevis member 42A_(CM), 42B_(CM).One end of a tension spring 42B_(TS) (the tension spring for the rightwheel subassembly 42A is not illustrated, but is identical to thetension spring 42BTS of the left wheel subassembly 42A) is attached tothe aft portion of the clevis member 42B_(CM) and the other end of thetension spring 42B_(TS) is attached to the chassis 21 forward of therespective wheel 42A_(W), 42B_(W).

[0037] Each tension spring is operative to rotatably bias the respectivemain wheel subassembly 42A, 42B (via pivotal movement of thecorresponding clevis member 42A_(CM), 42B_(CM) through the predeterminedarc) to an ‘extended’ position when the autonomous floor-cleaning robot10 is removed from the floor (in this ‘extended’ position the wheel axisof rotation lies below the bottom plane of the chassis 21). With theautonomous floor-cleaning robot 10 resting on or moving over a surfaceto be cleaned, the weight of autonomous floor-cleaning robot 10gravitationally biases each main wheel subassembly 42A, 42B into aretracted or operating position wherein axis of rotation of the wheelsare approximately coplanar with bottom plane of the chassis 21. Themotors 42A_(M), 42B_(M) of the main wheel subassemblies 42A, 42B areoperative to drive the main wheels: (1) at the same speed in the samedirection of rotation to propel the autonomous floor-cleaning robot 10in a straight line, either forward or aft; (2) at different speeds(including the situation wherein one wheel is operated at zero speed) toeffect turning patterns for the autonomous floor-cleaning robot 10; or(3) at the same speed in opposite directions of rotation to cause therobot 10 to turn in place, i.e., “spin on a dime”. The wheels 42A_(W),42B_(W) of the main wheel subassemblies 42A, 42B preferably have a“knobby” tread configuration 42A_(KT), 42B_(KT). This knobby treadconfiguration 42A_(KT), 42B_(KT) provides the autonomous floor-cleaningrobot 10 with enhanced traction, particularly when traversing smoothsurfaces and traversing between contiguous surfaces of differenttextures, e.g., bare floor to carpet or vice versa. This knobby treadconfiguration 42A_(KT), 42B_(KT) also prevents tufted fabric ofcarpets/rugs from being entrapped in the wheels 42A_(W), 42B andentrained between the wheels and the chassis 21 during movement of theautonomous floor-cleaning robot 10. One skilled in the art willappreciate, however, that other tread patterns/configurations are withinthe scope of the present invention.

[0038] The sensor subsystem 50 comprises a variety of different sensingunits that may be broadly characterized as either: (1) control sensingunits 52; or (2) emergency sensing units 54. As the names imply, controlsensing units 52 are operative to regulate the normal operation of theautonomous floor-cleaning robot 10 and emergency sensing units 54 areoperative to detect situations that could adversely affect the operationof the autonomous floor-cleaning robot 10 (e.g., stairs descending fromthe surface being cleaned) and provide signals in response to suchdetections so that the autonomous floor-cleaning robot 10 can implementan appropriate response via the control module 60. The control sensingunits 52 and emergency sensing units 54 of the autonomous floor-cleaningrobot 10 are summarily described in the following paragraphs; a morecomplete description can be found in commonly-owned, co-pending U.S.patent application Ser. Nos. 09/768,773, filed Jan. 24, 2001, entitledROBOT OBSTACLE DETECTION SYSTEM, 10/167,851, Jun. 12, 2002, entitledMETHOD AND SYSTEM FOR ROBOT LOCALIZATION AND CONFINEMENT, and10/056,804, filed Jan. 24, 2002, entitled METHOD AND SYSTEM FORMULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT.

[0039] The control sensing units 52 include obstacle detection sensors52OD mounted in conjunction with the linearly-displaceable bumper arms23BA of the displaceable bumper 23, a wall-sensing assembly 52WS mountedin the right-hand portion of the displaceable bumper 23, a virtual wallsensing assembly 52VWS mounted atop the displaceable bumper 23 along thefore-aft diameter of the autonomous floor-cleaning robot 10, and an IRsensor/encoder combination 52WE mounted in combination with each wheelsubassembly 42A, 42B.

[0040] Each obstacle detection sensor 52OD includes an emitter anddetector combination positioned in conjunction with one of the linearlydisplaceable bumper arms 23BA so that the sensor 52OD is operative inresponse to a displacement of the bumper arm 23BA to transmit adetection signal to the control module 60. The wall sensing assembly52WS includes an emitter and detector combination that is operative todetect the proximity of a wall or other similar structure and transmit adetection signal to the control module 60. Each IR sensor/encodercombination 52WE is operative to measure the rotation of the associatedwheel subassembly 42A, 42B and transmit a signal corresponding theretoto the control module 60.

[0041] The virtual wall sensing assembly 52VWS includes detectors thatare operative to detect a force field and a collimated beam emitted by astand-alone emitter (the virtual wall unit—not illustrated) and transmitrespective signals to the control module 60. The autonomous floorcleaning robot 10 is programmed not to pass through the collimated beamso that the virtual wall unit can be used to prevent the robot 10 fromentering prohibited areas, e.g., access to a descending staircase, roomnot to be cleaned. The robot 10 is further programmed to avoid the forcefield emitted by the virtual wall unit, thereby preventing the robot 10from overrunning the virtual wall unit during floor cleaning operations.

[0042] The emergency sensing units 54 include ‘cliff detector’assemblies 54CD mounted in the displaceable bumper 23, wheeldropassemblies 54WD mounted in conjunction with the left and right mainwheel subassemblies 42A, 42B and the nose-wheel assembly 24, and currentstall sensing units 54CS for the motor 42A, 42BM of each main wheelsubassembly 42A, 42B and one for the motors 44, 48 (these two motors arepowered via a common circuit in the described embodiment). For thedescribed embodiment of the autonomous floor-cleaning robot 10, four (4)cliff detector assemblies 54CD are mounted in the displaceable bumper23. Each cliff detector assembly 54CD includes an emitter and detectorcombination that is operative to detect a predetermined drop in the pathof the robot 10, e.g., descending stairs, and transmit a signal to thecontrol module 60. The wheeldrop assemblies 54WD are operative to detectwhen the corresponding left and right main wheel subassemblies 32A, 32Band/or the nose-wheel assembly 24 enter the extended position, e.g., acontact switch, and to transmit a corresponding signal to the controlmodule 60. The current stall sensing units 54CS are operative to detecta change in the current in the respective motor, which indicates astalled condition of the motor's corresponding components, and transmita corresponding signal to the control module 60.

[0043] The control module 60 comprises the control circuitry (see, e.g.,control lines 60-4, 60-5, 60-7, and 60-8 in FIG. 1) and microcontrollerfor the autonomous floor-cleaning robot 10 that controls the movement ofthe robot 10 during floor cleaning operations and in response to signalsgenerated by the sensor subsystem 50. The control module 60 of theautonomous floor-cleaning robot 10 according to the present invention ispreprogrammed (hardwired, software, firmware, or combinations thereof)to implement three basic operational modes, i.e., movement patterns,that can be categorized as: (1) a “spot-coverage” mode; (2) a“wall/obstacle following” mode; and (3) a “bounce” mode. In addition,the control module 60 is preprogrammed to initiate actions based uponsignals received from sensor subsystem 50, where such actions include,but are not limited to, implementing movement patterns (2) and (3), anemergency stop of the robot 10, or issuing an audible alert. Furtherdetails regarding the operation of the robot 10 via the control module60 are described in detail in commonly-owned, co-pending U.S. patentapplication Ser. Nos. 09/768,773, filed Jan. 24, 2001, entitled ROBOTOBSTACLE DETECTION SYSTEM, 10/167,851, filed Jun. 12, 2002, entitledMETHOD AND SYSTEM FOR ROBOT LOCALIZATION AND CONFINEMENT, and10/056,804, filed Jan. 24, 2002, entitled METHOD AND SYSTEM FORMULTI-MODE COVERAGE FOR AN AUTONOMOUS ROBOT.

[0044] The side brush assembly 70 is operative to entrain macroscopicand microscopic particulates outside the periphery of the housinginfrastructure 20 of the autonomous floor-cleaning robot 10 and todirect such particulates towards the self-adjusting cleaning headsubsystem 80. This provides the robot 10 with the capability of cleaningsurfaces adjacent to baseboards (during the wall-following mode).

[0045] The side brush assembly 70 is mounted in a recess formed in thelower surface of the right forward quadrant of the chassis 21 (forwardof the right main wheel subassembly 42A just behind the right hand endof the displaceable bumper 23). The side brush assembly 70 comprises ashaft 72 having one end rotatably connected to the electric motor 44 fortorque transfer, a hub 74 connected to the other end of the shaft 72, acover plate 75 surrounding the hub 74, a brush means 76 affixed to thehub 74, and a set of bristles 78.

[0046] The cover plate 75 is configured and secured to the chassis 21 toencompass the hub 74 in a manner that prevents the brush means 76 frombecoming stuck under the chassis 21 during floor cleaning operations.

[0047] For the embodiment of FIGS. 3A-3C, the brush means 76 comprisesopposed brush arms that extend outwardly from the hub 74. These brusharms 76 are formed from a compliant plastic or rubber material in an“L”/hockey stick configuration of constant width. The configuration andcomposition of the brush arms 76, in combination, allows the brush arms76 to resiliently deform if an obstacle or obstruction is temporarilyencountered during cleaning operations. Concomitantly, the use ofopposed brush arms 76 of constant width is a trade-off (versus using afull or partial circular brush configuration) that ensures that theoperation of the brush means 76 of the side brush assembly 70 does notadversely impact (i.e., by occlusion) the operation of the adjacentcliff detector subassembly 54CD (the left-most cliff detectorsubassembly 54CD in FIG. 3B) in the displaceable bumper 23. The brusharms 76 have sufficient length to extend beyond the outer periphery ofthe autonomous floor-cleaning robot 10, in particular the displaceablebumper 23 thereof. Such a length allows the autonomous floor-cleaningrobot 10 to clean surfaces adjacent to baseboards (during thewall-following mode) without scrapping of the wall/baseboard by thechassis 21 and/or displaceable bumper 23 of the robot 10.

[0048] The set of bristles 78 is set in the outermost free end of eachbrush arm 76 (similar to a toothbrush configuration) to provide thesweeping capability of the side brush assembly 70. The bristles 78 havea length sufficient to engage the surface being cleaned with the mainwheel subassemblies 42A, 42B and the nose-wheel subassembly 24 in theoperating position.

[0049] The self-adjusting cleaning head subsystem 80 provides thecleaning mechanisms for the autonomous floor-cleaning robot 10 accordingto the present invention. The cleaning mechanisms for the preferredembodiment of the self-adjusting cleaning head subsystem 80 include abrush assembly 90 and a vacuum assembly 100.

[0050] For the described embodiment of FIGS. 3A-3C, the brush assembly90 is a dual-stage brush mechanism, and this dual-stage brush assembly90 and the vacuum assembly 100 are independent cleaning mechanisms, bothstructurally and functionally, that have been adapted and designed foruse in the robot 10 to minimize the over-all power requirements of therobot 10 while simultaneously providing an effective cleaningcapability. In addition to the cleaning mechanisms described in thepreceding paragraph, the self-adjusting cleaning subsystem 80 includes adeck structure 82 pivotally coupled to the chassis 21, an automatic deckadjusting subassembly 84, a removable dust cartridge 86, and one or morebails 88 shielding the dual-stage brush assembly 90.

[0051] The deck 82 is preferably fabricated as a unitary structure froma material such as plastic and includes opposed, spaced-apart sidewalls82SW formed at the aft end of the deck 82 (one of the sidewalls 82SWcomprising a U-shaped structure that houses the motor 46, abrush-assembly well 82W, a lateral aperture 82LA formed in theintermediate portion of the lower deck surface, which defines theopening between the dual-stage brush assembly 90 and the removable dustcartridge 86, and mounting brackets 82MB formed in the forward portionof the upper deck surface for the motor 48.

[0052] The sidewalls 82SW are positioned and configured for mounting thedeck 82 in pivotal combination with the chassis 21 by a conventionalmeans, e.g., a revolute joint (see reference characters 82RJ in FIG. 3A). The pivotal axis of the deck 82 chassis 21 combination isperpendicular to the fore—aft axis FA of the autonomous floor-cleaningrobot 10 at the aft end of the robot 10 (see reference character 82PAwhich identifies the pivotal axis in FIG. 3A).

[0053] The mounting brackets 82MB are positioned and configured formounting the constant-torque motor 48 at the forward lip of the deck 82.The rotational axis of the mounted motor 48 is perpendicular to thefore—aft diameter of the autonomous floor-cleaning robot 10 (seereference character 48RA which identifies the rotational axis of themotor 48 in FIG. 3A). Extending from the mounted motor 48 is an shaft48S for transferring the constant torque to the input side of astationary, conventional dual-output gearbox 48B (the housing of thedual-output gearbox 48B is fabricated as part of the deck 82).

[0054] The desk adjusting subassembly 84, which is illustrated infurther detail in FIGS. 4A-4C, is mounted in combination with the motor48, the deck 82 and the chassis 21 and operative, in combination withthe electric motor 48, to provide the physical mechanism and motiveforce, respectively, to pivot the deck 82 with respect to the chassis 21about pivotal axis 82PA whenever the dual-stage brush assembly 90encounters a situation that results in a predetermined reduction in therotational speed of the dual-stage brush assembly 90. This situation,which most commonly occurs as the autonomous floor-cleaning robot 10transitions between a smooth surface such as a floor and a carpetedsurface, is characterized as the ‘adjustment mode’ in the remainder ofthis description.

[0055] The deck adjusting subassembly 84 for the described embodiment ofFIG. 3A includes a motor cage 84MC, a pulley 84P, a pulley cord 84C, ananchor member 84AM, and complementary cage stops 84CS. The motor 48 isnon-rotatably secured within the motor cage 84MC and the motor cage 84MCis mounted in rotatable combination between the mounting brackets 82MB.The pulley 84P is fixedly secured to the motor cage 84MC on the oppositeside of the interior mounting bracket 82MB in such a manner that theshaft 48S of the motor 48 passes freely through the center of the pulley84P. The anchor member 84AM is fixedly secured to the top surface of thechassis 21 in alignment with the pulley 84P.

[0056] One end of the pulley cord 84C is secured to the anchor member84AM and the other end is secured to the pulley 84P in such a manner,that with the deck 82 in the ‘down’ or non-pivoted position, the pulleycord 84C is tensioned. One of the cage stops 84CS is affixed to themotor cage 84MC; the complementary cage stop 84CS is affixed to the deck82. The complementary cage stops 84CS are in abutting engagement whenthe deck 82 is in the ‘down’ position during normal cleaning operationsdue to the weight of the self-adjusting cleaning head subsystem 80.

[0057] During normal cleaning operations, the torque generated by themotor 48 is transferred to the dual-stage brush subassembly 90 by meansof the shaft 48S through the dual-output gearbox 48B. The motor cageassembly is prevented from rotating by the counter-acting torquegenerated by the pulley cord 84C on the pulley 84P. When the resistanceencountered by the rotating brushes changes, the deck height will beadjusted to compensate for it. If for example, the brush torqueincreases as the machine rolls from a smooth floor onto a carpet, thetorque output of the motor 48 will increase. In response to this, theoutput torque of the motor 48 will increase. This increased torqueovercomes the counter-acting torque exerted by the pulley cord 84C onthe pulley 84P. This causes the pulley 84P to rotate, effectivelypulling itself up the pulley cord 84C. This in turn, pivots the deckabout the pivot axis, raising the brushes, reducing the friction betweenthe brushes and the floor, and reducing the torque required by thedual-stage brush subassembly 90. This continues until the torque betweenthe motor 48 and the counteracting torque generated by the pulley cord84C on the pulley 84P are once again in equilibrium and a new deckheight is established.

[0058] In other words, during the adjustment mode, the foregoing torquetransfer mechanism is interrupted since the shaft 48S is essentiallystationary. This condition causes the motor 48 to effectively rotateabout the shaft 48S. Since the motor 48 is non-rotatably secured to themotor cage 84MC, the motor cage 84MC, and concomitantly, the pulley 84P,rotate with respect to the mounting brackets 82MB. The rotational motionimparted to the pulley 84P causes the pulley 84P to ‘climb up’ thepulley cord 84PC towards the anchor member 84AM. Since the motor cage84MC is effectively mounted to the forward lip of the deck 82 by meansof the mounting brackets 82MB, this movement of the pulley 84P causesthe deck 82 to pivot about its pivot axis 82PA to an “up” position (seeFIG. 4C). This pivoting motion causes the forward portion of the deck 82to move away from surface over which the autonomous floor-cleaning robotis traversing.

[0059] Such pivotal movement, in turn, effectively moves the dual-stagebrush assembly 90 away from the surface it was in contact with, therebypermitting the dual-stage brush assembly 90 to speed up and resume asteady-state rotational speed (consistent with the constant torquetransferred from the motor 48). At this juncture (when the dual-stagebrush assembly 90 reaches its steady-state rotational speed), the weightof the forward edge of the deck 82 (primarily the motor 48),gravitationally biases the deck 82 to pivot back to the ‘down’ or normalstate, i.e., planar with the bottom surface of the chassis 21, whereinthe complementary cage stops 84CS are in abutting engagement.

[0060] While the deck adjusting subassembly 84 described in thepreceding paragraphs is the preferred pivoting mechanism for theautonomous floor-cleaning robot 10 according to the present invention,one skilled in the art will appreciate that other mechanisms can beemployed to utilize the torque developed by the motor 48 to induce apivotal movement of the deck 82 in the adjustment mode. For example, thedeck adjusting subassembly could comprise a spring-loaded clutchmechanism such as that shown in FIG. 4C (identified by referencecharacters SLCM) to pivot the deck 82 to an “up” position during theadjustment mode, or a centrifugal clutch mechanism or a torque-limitingclutch mechanism. In other embodiments, motor torque can be used toadjust the height of the cleaning head by replacing the pulley with acam and a constant force spring or by replacing the pulley with a rackand pinion, using either a spring or the weight of the cleaning head togenerate the counter-acting torque.

[0061] The removable dust cartridge 86 provides temporary storage formacroscopic and microscopic particulates swept up by operation of thedual-stage brush assembly 90 and microscopic particulates drawn in bythe operation of the vacuum assembly 100. The removable dust cartridge86 is configured as a dual chambered structure, having a first storagechamber 86SC1 for the macroscopic and microscopic particulates swept upby the dual-stage brush assembly 90 and a second storage chamber 86SC2for the microscopic particulates drawn in by the vacuum assembly 100.The removable dust cartridge 86 is further configured to be inserted incombination with the deck 82 so that a segment of the removable dustcartridge 86 defines part of the rear external sidewall structure of theautonomous floor-cleaning robot 10.

[0062] As illustrated in FIGS. 5A-5B, the removable dust cartridge 86comprises a floor member 86FM and a ceiling member 86CM joined togetherby opposed sidewall members 86SW. The floor member 86FM and the ceilingmember 86CM extend beyond the sidewall members 86SW to define an openend 860E, and the free end of the floor member 86FM is slightly angledand includes a plurality of baffled projections 86AJ to remove debrisentrained in the brush mechanisms of the dual-stage brush assembly 90,and to facilitate insertion of the removable dust cartridge 86 incombination with the deck 82 as well as retention of particulates sweptinto the removable dust cartridge 86. A backwall member 86BW is mountedbetween the floor member 86FM and the ceiling member 86CM distal theopen end 860E in abutting engagement with the sidewall members 86SW. Thebackwall member 86BW has an baffled configuration for the purpose ofdeflecting particulates angularly therefrom to prevent particulatesswept up by the dual-stage brush assembly 90 from ricocheting back intothe brush assembly 90. The floor member 86FM, the ceiling member 86CM,the sidewall members 86SW, and the backwall member 86BW in combinationdefine the first storage chamber 86SC1.

[0063] The removable dust cartridge 86 further comprises a curvedarcuate member 86CAM that defines the rear external sidewall structureof the autonomous floor-cleaning robot 10. The curved arcuate member86CAM engages the ceiling member 86CM, the floor member 86F and thesidewall members 86SW. There is a gap formed between the curved arcuatemember 86CAM and one sidewall member 86SW that defines a vacuum inlet86VI for the removable dust cartridge 86. A replaceable filter 86RF isconfigured for snap fit insertion in combination with the floor member86FM. The replaceable filter 86RF, the curved arcuate member 86CAM, andthe backwall member 86BW in combination define the second storagechamber 86SC1.

[0064] The removable dust cartridge 86 is configured to be insertedbetween the opposed spaced-apart sidewalls 82SW of the deck 82 so thatthe open end of the removable dust cartridge 86 aligns with the lateralaperture 82LA formed in the deck 82. Mounted to the outer surface of theceiling member 86CM is a latch member 86LM, which is operative to engagea complementary shoulder formed in the upper surface of the deck 82 tolatch the removable dust cartridge 86 in integrated combination with thedeck 82.

[0065] The bail 88 comprises one or more narrow gauge wire structuresthat overlay the dual-stage brush assembly 90. For the describedembodiment, the bail 88 comprises a continuous narrow gauge wirestructure formed in a castellated configuration, i.e., alternatingopen-sided rectangles. Alternatively, the bail 88 may comprise aplurality of single, open-sided rectangles formed from narrow gaugewire. The bail 88 is designed and configured for press fit insertioninto complementary retaining grooves 88A, 88B, respectively, formed inthe deck 82 immediately adjacent both sides of the dual-stage brushassembly 90. The bail 88 is operative to shield the dual-stage brushassembly 90 from larger external objects such as carpet tassels, tuftedfabric, rug edges, during cleaning operations, i.e., the bail 88deflects such objects away from the dual-stage brush assembly 90,thereby preventing such objects from becoming entangled in the brushmechanisms.

[0066] The dual-stage brush assembly 90 for the described embodiment ofFIG. 3A comprises a flapper brush 92 and a main brush 94 that aregenerally illustrated in FIG. 6. Structurally, the flapper brush 92 andthe main brush 94 are asymmetric with respect to one another, with themain brush 94 having an O.D. greater than the O.D. of the flapper brush92. The flapper brush 92 and the main brush 94 are mounted in the deck82 recess, as described below in further detail, to have minimal spacingbetween the sweeping peripheries defined by their respective rotatingelements. Functionally, the flapper brush 92 and the main brush 94counter-rotate with respect to one another, with the flapper brush 92rotating in a first direction that causes macroscopic particulates to bedirected into the removable dust cartridge 86 and the main brush 94rotating in a second direction, which is opposite to the forwardmovement of the autonomous floor-cleaning robot 10, that causesmacroscopic and microscopic particulates to be directed into theremovable dust cartridge 86. In addition, this rotational motion of themain brush 94 has the secondary effect of directing macroscopic andmicroscopic particulates towards the pick-up zone of the vacuum assembly100 such that particulates that are not swept up by the dual-stage brushassembly 90 can be subsequently drawn up (ingested) by the vacuumassembly 100 due to movement of the autonomous floor-cleaning robot 10.

[0067] The flapper brush 92 comprises a central member 92CM having firstand second ends. The first and second ends are designed and configuredto mount the flapper brush 92 in rotatable combination with the deck 82and a first output port 48B_(O1) of the dual output gearbox 48B,respectively, such that rotation of the flapper brush 92 is provided bythe torque transferred from the electric motor 48 (the gearbox 48B isconfigured so that the rotational speed of the flapper brush 92 isrelative to the speed of the autonomous floor-cleaning robot 10—thedescribed embodiment of the robot 10 has a top speed of approximately0.9 ft/sec). In other embodiments, the flapper brush 92 rotatessubstantially faster than traverse speed either in relation or not inrelation to the transverse speed. Axle guards 92AG having a beveledconfiguration are integrally formed adjacent the first and second endsof the central member 92CM for the purpose of forcing hair and othersimilar matter away from the flapper brush 92 to prevent such matterfrom becoming entangled with the ends of the central member 92CM andstalling the dual-stage brush assembly 90.

[0068] The brushing element of the flapper brush 92 comprises aplurality of segmented cleaning strips 92CS formed from a compliantplastic material secured to and extending along the central member 92CMbetween the internal ends of the axle guards 92AG (for the illustratedembodiment, a sleeve, configured to fit over and be secured to thecentral member 92CM, has integral segmented strips extending outwardlytherefrom). It was determined that arranging these segmented cleaningstrips 92CS in a herringbone or chevron pattern provided the optimalcleaning utility (capability and noise level) for the dual-stage brushsubassembly 90 of the autonomous floor-cleaning robot 10 according tothe present invention. Arranging the segmented cleaning strips 92CS inthe herringbone/chevron pattern caused macroscopic particulate mattercaptured by the strips 92CS to be circulated to the center of theflapper brush 92 due to the rotation thereof. It was determined thatcleaning strips arranged in a linear/straight pattern produced airritating flapping noise as the brush was rotated. Cleaning stripsarranged in a spiral pattern circulated captured macroscopicparticulates towards the ends of brush, which resulted in particulatesescaping the sweeping action provided by the rotating brush.

[0069] For the described embodiment, six (6) segmented cleaning strips92CS were equidistantly spaced circumferentially about the centralmember 92CM in the herringbone/chevron pattern. One skilled in the artwill appreciate that more or less segmented cleaning strips 92CS can beemployed in the flapper brush 90 without departing from the scope of thepresent invention. Each of the cleaning strips 92S is segmented atprescribed intervals, such segmentation intervals depending upon theconfiguration (spacing) between the wire(s) forming the bail 88. Theembodiment of the bail 88 described above resulted in each cleaningstrip 92CS of the described embodiment of the flapper brush 92 havingfive (5) segments.

[0070] The main brush 94 comprises a central member 94CM (for thedescribed embodiment the central member 94CM is a round metal memberhaving a spiral configuration)having first and second straight ends(i.e., aligned along the centerline of the spiral). Integrated incombination with the central member 94CM is a segmented protectivemember 94PM. Each segment of the protective member 94PM includesopposed, spaced-apart, semi-circular end caps 94EC having integral ribs94IR extending therebetween. For the described embodiment, each pair ofsemi-circular end caps EC has two integral ribs extending therebetween.The protective member 94PM is assembled by joining complementarysemi-circular end caps 94EC by any conventional means, e.g., screws,such that assembled complementary end caps 94EC have a circularconfiguration.

[0071] The protective member 94PM is integrated in combination with thecentral member 94CM so that the central member 94CM is disposed alongthe centerline of the protective member 94PM, and with the first end ofthe central member 94CM terminating in one circular end cap 94EC and thesecond end of the central member 94CM extending through the othercircular end cap 94EC. The second end of the central member 94CM ismounted in rotatable combination with the deck 82 and the circular endcap 94EC associated with the first end of the central member 94CM isdesigned and configured for mounting in rotatable combination with thesecond output port 48B_(O2) of the gearbox 48B such that the rotation ofthe main brush 94 is provided by torque transferred from the electricmotor 48 via the gearbox 48B.

[0072] Bristles 94B are set in combination with the central member 94CMto extend between the integral ribs 94IR of the protective member 94PMand beyond the O.D. established by the circular end caps 94EC. Theintegral ribs 94IR are configured and operative to impede the ingestionof matter such as rug tassels and tufted fabric by the main brush 94.

[0073] The bristles 94B of the main brush 94 can be fabricated from anyof the materials conventionally used to form bristles for surfacecleaning operations. The bristles 94B of the main brush 94 provide anenhanced sweeping capability by being specially configured to provide a“flicking” action with respect to particulates encountered duringcleaning operations conducted by the autonomous floor-cleaning robot 10according to the present invention. For the described embodiment, eachbristle 94B has a diameter of approximately 0.010 inches, a length ofapproximately 0.90 inches, and a free end having a roundedconfiguration. It has been determined that this configuration providesthe optimal flicking action. While bristles having diameters exceedingapproximately 0.014 inches would have a longer wear life, such bristlesare too stiff to provide a suitable flicking action in the context ofthe dual-stage brush assembly 90 of the present invention. Bristlediameters that are much less than 0.010 inches are subject to prematurewear out of the free ends of such bristles, which would cause adegradation in the sweeping capability of the main brush. In a preferredembodiment, the main brush is set slightly lower than the flapper brushto ensure that the flapper does not contact hard surface floors.

[0074] The vacuum assembly 100 is independently powered by means of theelectric motor 46. Operation of the vacuum assembly 100 independently ofthe self-adjustable brush assembly 90 allows a higher vacuum force to begenerated and maintained using a battery-power source than would bepossible if the vacuum assembly were operated in dependence with thebrush system. In other embodiments, the main brush motor can drive thevacuum. Independent operation is used herein in the context that theinlet for the vacuum assembly 100 is an independent structural unithaving dimensions that are not dependent upon the “sweep area” definedby the dual-stage brush assembly 90.

[0075] The vacuum assembly 100, which is located immediately aft of thedual-stage brush assembly 90, i.e., a trailing edge vacuum, isorientated so that the vacuum inlet is immediately adjacent the mainbrush 94 of the dual-stage brush assembly 90 and forward facing, therebyenhancing the ingesting or vacuuming effectiveness of the vacuumassembly 100. With reference to FIGS. 7A, 7B, the vacuum assembly 100comprises a vacuum inlet 102, a vacuum compartment 104, a compartmentcover 106, a vacuum chamber 108, an impeller 110, and vacuum channel112. The vacuum inlet 102 comprises first and second blades 102A, 102Bformed of a semi-rigid/compliant plastic or elastomeric material, whichare configured and arranged to provide a vacuum inlet 102 of constantsize (lateral width and gap-see discussion below), thereby ensuring thatthe vacuum assembly 100 provides a constant air inflow velocity, whichfor the described embodiment is approximately 4 m/sec.

[0076] The first blade 102A has a generally rectangular configuration,with a width (lateral) dimension such that the opposed ends of the firstblade 102A extend beyond the lateral dimension of the dual-stage brushassembly 90. One lateral edge of the first blade 102A is attached to thelower surface of the deck 82 immediately adjacent to but spaced apartfrom, the main brush 94 (a lateral ridge formed in the deck 82 providesthe separation therebetween, in addition to embodying retaining groovesfor the bail 88 as described above) in an orientation that issubstantially symmetrical to the fore-aft diameter of the autonomousfloor-cleaning robot 10. This lateral edge also extends into the vacuumcompartment 104 where it is in sealed engagement with the forward edgeof the compartment 104. The first blade 102A is angled forwardly withrespect to the bottom surface of the deck 82 and has length such thatthe free end 102A_(FE) of the first blade 102A just grazes the surfaceto be cleaned.

[0077] The free end 102A_(FE) has a castellated configuration thatprevents the vacuum inlet 102 from pushing particulates during cleaningoperations. Aligned with the castellated segments 102CS of the free end102A_(FE), which are spaced along the width of the first blade 102A, areprotrusions 102P having a predetermined height. For the prescribedembodiment, the height of such protrusions 102P is approximately 2 mm.The predetermined height of the protrusions 102P defines the “gap”between the first and second blades 102A, 102B.

[0078] The second blade 102B has a planar, unitary configuration that iscomplementary to the first blade 102A in width and length. The secondblade 102B, however, does not have a castellated free end; instead, thefree end of the second blade 102B is a straight edge. The second blade102B is joined in sealed combination with the forward edge of thecompartment cover 106 and angled with respect thereto so as to besubstantially parallel to the first blade 102A. When the compartmentcover 106 is fitted in position to the vacuum compartment 104, theplanar surface of the second blade 102B abuts against the plurality ofprotrusions 102P of the first blade 102A to form the “gap” between thefirst and second blades 102A, 102B.

[0079] The vacuum compartment 104, which is in fluid communication withthe vacuum inlet 102, comprises a recess formed in the lower surface ofthe deck 82. This recess includes a compartment floor 104F and acontiguous compartment wall 104CW that delineates the perimeter of thevacuum compartment 104. An aperture 104A is formed through the floor104, offset to one side of the floor 104F. Due to the location of thisaperture 104A, offset from the geometric center of the compartment floor104F, it is prudent to form several guide ribs 104GR that projectupwardly from the compartment floor 104F. These guide ribs 104GR areoperative to distribute air inflowing through the gap between the firstand second blades 102A, 102B across the compartment floor 104 so that aconstant air inflow is created and maintained over the entire gap, i.e.,the vacuum inlet 102 has a substantially constant ‘negative’ pressure(with respect to atmospheric pressure).

[0080] The compartment cover 106 has a configuration that iscomplementary to the shape of the perimeter of the vacuum compartment104. The cover 106 is further configured to be press fitted in sealedcombination with the contiguous compartment wall 104CW wherein thevacuum compartment 104 and the vacuum cover 106 in combination definethe vacuum chamber 108 of the vacuum assembly 100. The compartment cover106 can be removed to clean any debris from the vacuum channel 112. Thecompartment cover 106 is preferable fabricated from a clear or smokyplastic material to allow the user to visually determine when cloggingoccurs.

[0081] The impeller 110 is mounted in combination with the deck 82 insuch a manner that the inlet of the impeller 110 is positioned withinthe aperture 104A. The impeller 110 is operatively connected to theelectric motor 46 so that torque is transferred from the motor 46 to theimpeller 110 to cause rotation thereof at a constant speed to withdrawair from the vacuum chamber 108. The outlet of the impeller 110 isintegrated in sealed combination with one end of the vacuum channel 112.

[0082] The vacuum channel 112 is a hollow structural member that iseither formed as a separate structure and mounted to the deck 82 orformed as an integral part of the deck 82. The other end of the vacuumchannel 110 is integrated in sealed combination with the vacuum inlet86VI of the removable dust cartridge 86. The outer surface of the vacuumchannel 112 is complementary in configuration to the external shape ofcurved arcuate member 86CAM of the removable dust cartridge 86.

[0083] A variety of modifications and variations of the presentinvention are possible in light of the above teachings. For example, thepreferred embodiment described above included a cleaning head subsystem80 that was self-adjusting, i.e., the deck 82 was automaticallypivotable with respect to the chassis 21 during the adjustment mode inresponse to a predetermined increase in brush torque of the dual-stagebrush assembly 90. It will be appreciated that another embodiment of theautonomous floor-cleaning robot according to the present invention is asdescribed hereinabove, with the exception that the cleaning headsubsystem is non-adjustable, i.e., the deck is non-pivotable withrespect to the chassis. This embodiment would not include the deckadjusting subassembly described above, i.e., the deck would be rigidlysecured to the chassis. Alternatively, the deck could be fabricated asan integral part of the chassis—in which case the deck would be avirtual configuration, i.e., a construct to simplify the identificationof components comprising the cleaning head subsystem and theirintegration in combination with the robot.

[0084] It is therefore to be understood that, within the scope of theappended claims, the present invention may be practiced other than asspecifically described herein.

What is claimed is:
 1. An autonomous floor-cleaning robot, comprising: ahousing infrastructure including a chassis; a power subsystem forproviding the energy to power said autonomous floor-cleaning robot; amotive subsystem operative to propel said autonomous floor-cleaningrobot for cleaning operations; a control module operative to control thesaid autonomous floor-cleaning robot to effect said cleaning operations;and a self-adjusting cleaning head subsystem including a deck mounted inpivotal combination with said chassis, a brush assembly mounted incombination with said deck and powered by said motive subsystem to sweepup particulates during cleaning operations, a deck adjusting subassemblymounted in combination with said motive subsystem for said brushassembly, said deck, and said chassis that is automatically operative inresponse to a change in torque in said brush assembly to pivot said deckwith respect to said chassis, and means coupled to said brush assemblyfor collecting particulates swept up by said brush assembly.
 2. Theautonomous floor-cleaning robot of claim 1 wherein said brush assemblyis a dual-stage brush assembly comprising first and secondcounter-rotating brushes.
 3. The autonomous floor-cleaning robot ofclaim 2 wherein said first and second brushes are asymmetric, saidsecond brush having an outer diameter greater than the outer diameter ofsaid first brush.
 4. The autonomous floor-cleaning robot of claim 2wherein said first brush is a flapper brush configured for mounting inrotatable combination with said deck and said motive subsystem for saiddual-stage brush assembly, said flapper brush including a plurality ofspaced-apart cleaning strips.
 5. The autonomous floor-cleaning robot ofclaim 4 wherein said plurality of spaced-apart cleaning strips arearranged in a chevron pattern.
 6. The autonomous floor-cleaning robot ofclaim 4 wherein each of said plurality of spaced-apart cleaning stripsare segmented.
 7. The autonomous floor-cleaning robot of claim 6 whereinsaid plurality of segmented cleaning strips comprises six segmentedcleaning strips.
 8. The autonomous floor-cleaning robot of claim 7wherein said segmented cleaning strips comprise five segments.
 9. Theautonomous floor-cleaning robot of claim 6 further comprising a bailhaving a castellated configuration with portions thereof press fitinserted in said deck in such a manner so that said bail forms a shieldover said dual-stage brush assembly; and wherein said castellatedconfiguration of said bail defines the segmentation of said plurality ofspaced-apart cleaning strips.
 10. The autonomous floor-cleaning robot ofclaim 2 wherein said second brush is a main brush that comprises: acentral member; a protective member mounted in combination with saidcentral member and having end caps configured for mounting said mainbrush in rotatable combination with said deck and said motive subsystemfor said dual-stage brush assembly, respectively.
 11. The autonomousfloor-cleaning robot of claim 10 where said protective member includesintegral ribs configured and operative to impede the ingestion of matterby said main brush.
 12. The autonomous floor-cleaning robot of claim 11further comprising a plurality of bristles set in combination with saidcentral member to extend beyond said integral ribs and the outerdiameter defined by said end caps.
 13. The autonomous floor-cleaningrobot of claim 11 where each bristle has a diameter of approximately0.01 inches, a length of approximately 0.9 inches, and a free end havinga rounded configuration.
 14. The autonomous floor-cleaning robot ofclaim 1 wherein said brush assembly is a dual-stage brush assemblycomprising a flapper brush and a main brush, said flapper brushconfigured for mounting in rotatable combination with said deck and saidmotive subsystem for said dual-stage brush assembly, respectively, andincluding a plurality of spaced-apart segmented cleaning strips arrangedin a chevron pattern, and said main brush including a central member, aprotective member mounted in combination with said central member andhaving end caps configured for mounting said main brush in rotatablecombination with said deck and said motive subsystem for said dual-stagebrush assembly, respectively, and a plurality of bristles set incombination with said central member to extend beyond the outer diameterdefined by said end caps.
 15. The autonomous floor-cleaning robot ofclaim 14 wherein said protective member includes integral ribsconfigured and operative to impede the ingestion of matter by said mainbrush.
 16. The autonomous floor-cleaning robot of claim 15 wherein saidflapper brush and said main brush are asymmetric, said main brush havingan outer diameter greater than the outer diameter of said flapper brush;and further wherein said flapper brush and said main brush arecounter-rotating with respect to one another.
 17. An autonomousfloor-cleaning robot comprising: a housing infrastructure including achassis; a power subsystem for providing the energy to power saidautonomous floor-cleaning robot; a motive subsystem operative to propelsaid autonomous floor-cleaning robot for cleaning operations; a controlmodule operative to control said autonomous floor-cleaning robot toeffect cleaning operations; a self-adjusting cleaning head subsystemincluding a deck mounted in pivotal combination with said chassis, abrush assembly mounted in combination with said deck and powered by saidmotive subsystem to sweep up particulates during cleaning operations, avacuum assembly disposed in combination with said deck adjacent to saidbrush assembly and powered by said motive subsystem independently ofsaid brush assembly to ingest particulates during cleaning operations, adeck adjusting subassembly mounted in combination with said motivesubsystem for said brush assembly, said deck, and said chassis that isautomatically operative in response to a change in torque in said brushassembly to pivot said deck with respect to said chassis, and meanscoupled to said brush assembly and said vacuum assembly for collectingparticulates swept up by said brush assembly and ingested by said vacuumassembly.
 18. The autonomous floor-cleaning robot of claim 17 whereinsaid vacuum assembly includes: a vacuum inlet having a predeterminedwidth and gap, said vacuum inlet being separate from and independent ofthe brush sweep area defined by said brush assembly; a vacuumcompartment formed in said deck to include a compartment floor, acontiguous compartment wall, and an aperture formed through saidcompartment floor; a removable compartment cover configured to be pressfitted in sealed combination with said vacuum compartment and saidvacuum inlet, said compartment cover and said vacuum compartment inpress fitted combination defining a vacuum chamber; an impeller mountedin combination with said deck so that the inlet of said impeller ispositioned within said aperture, said impeller being operativelyconnected to said motive subsystem to receive torque therefrom; and avacuum channel integrated in sealed combination with said impeller forremoval of collected particulates from said vacuum chamber.
 19. Theautonomous floor-cleaning robot of claim 18 wherein said vacuum inletcomprises: a first blade having a generally rectangular configurationand a lateral dimension that defines said predetermined width of saidvacuum inlet, one lateral edge of said first blade being attached to thelower surface of said deck and extending into and sealed in combinationwith said contiguous compartment wall so that said first blade is angledforwardly with respect to said deck; and a second blade having agenerally rectangular configuration that is complementary to theconfiguration of said first blade, one lateral edge of said second bladebeing disposed in sealed combination with said removable compartmentcover; wherein said first and second blades in combination define saidvacuum inlet having said predetermined width and gap.
 20. The autonomousfloor-cleaning robot of claim 19 wherein the free lateral edge of saidfirst blade has a castellated configuration to mitigate the pushing ofparticulates by said vacuum inlet during cleaning operations, saidcastellated configuration defining a plurality of castellated segmentsalong said free lateral edge.
 21. The autonomous floor-cleaning robot ofclaim 20 further comprising a plurality of protrusions having apredetermined height, said plurality of protrusions being aligned withand extending from said castellated segments; and wherein in combinationthe planar surface of said second blade abuts against said protrusionsof said first blade to form said predetermined gap of said vacuum inlet.22. The autonomous floor-cleaning robot of claim 18 wherein said vacuuminlet comprises: a first blade having a generally rectangularconfiguration and a lateral dimension that defines said predeterminedwidth of said vacuum inlet, and wherein one lateral edge of said firstblade being attached to the lower surface of said deck and extendinginto and sealed in combination with said contiguous compartment wall sothat said first blade is angled forwardly with respect to said deck andthe free lateral edge of said first blade has a castellatedconfiguration to mitigate the pushing of particulates by said vacuuminlet during cleaning operations, said castellated configurationdefining a plurality of castellated segments along said free lateraledge; a second blade having a generally rectangular configuration thatis complementary to the configuration of said first blade, one lateraledge of said second blade being disposed in sealed combination with saidremovable compartment cover; and a plurality of protrusions having apredetermined height, said plurality of protrusions being aligned withand extending from said castellated segments; and wherein in combinationthe planar surface of said second blade abuts against said protrusionsof said first blade to form said predetermined gap of said vacuum inlet.23. The autonomous floor-cleaning robot of claim 18 wherein saidaperture is formed through said compartment floor so as to be offsetfrom the geometric center thereof; and wherein said compartment floorfurther includes guide ribs projecting upwardly therefrom to distributethe airflow through said predetermined gap so that a substantiallyconstant negative pressure is maintained over said predetermined gap.24. The autonomous floor-cleaning robot of claim 1 wherein said deckadjusting subassembly comprises: a motor cage mounted in rotatablecombination with said deck, said motive subsystem for said brushassembly being non-rotatably secured within said motor cage; a pulleyfixedly secured to said motor cage; an anchor member fixedly secured tosaid chassis in alignment with said pulley; and a pulley cord secured tosaid anchor member and said pulley in tension therebetween with saiddeck in the non-pivoted position with respect to said chassis; wherein,in response to a a change in torque in said brush assembly, said motorcage is automatically rotated in such a manner that the pulley climbs upsaid pulley cord, causing said deck to pivot with respect to saidchassis.
 25. The autonomous floor-cleaning robot of claim 24 whereinsaid deck adjusting subassembly further comprises complementary cagestops affixed to said motor cage and said deck in such a manner that thecomplementary cage stops are in abutting engagement with said deck inthe non-pivoted position with respect to said chassis.
 26. Theautonomous floor-cleaning robot as in claims 1 or 17 further comprisinga side brush assembly mounted in combination with said chassis andpowered by said motive subsystem to entrain particulates outside theperiphery of said housing infrastructure and to direct such particulatestowards said self-adjusting cleaning head subsystem.
 27. The autonomousfloor-cleaning robot of claim 26 wherein said side brush assemblycomprises: a shaft having one end thereof rotatably connected to saidmotive subsystem for torque transfer thereto; a hub connected to theother end of said shaft; brush means connected to said hub that isoperative to entrain particulates outside the periphery of said housinginfrastructure and to direct such particulates towards saidself-adjusting cleaning head subsystem.
 28. The autonomousfloor-cleaning robot of claim 27 wherein said brush means comprises:opposed brush arms extending outwardly from said hub; and a set ofbristles set in the free end of each said brush arm.
 29. The autonomousfloor-cleaning robot of claim 28 wherein each said brush arm has anL-shaped configuration, with the longer leg of said L-shapedconfiguration having a constant width and said set of bristles set inthe free end thereof.
 30. The autonomous floor-cleaning robot of claim 1wherein said particulate collecting means comprises a removable dustcartridge configured for integration in combination with said deck so asto be coupled to said brush assembly and said vacuum assembly.
 31. Theautonomous floor-cleaning robot of claim 1 wherein said removable dustcartridge comprises: a floor member; a ceiling member; sidewall membersjoining together said floor member and said ceiling member so that saidfloor and ceiling members extend beyond said sidewalls to define an openend; and a curved arcuate member disposed in combination with saidfloor, ceiling, and sidewall members, said curved arcuate memberdefining the rear external sidewall structure of said autonomousfloor-cleaning robot.
 32. The autonomous floor-cleaning robot of claim31 wherein the free end of said floor member is angled and includes aplurality of projections with interact with said brush assembly toremove entrained debris therefrom.
 33. The autonomous floor-cleaningrobot of claim 31 further comprising an backwall member mounted betweensaid floor and ceiling members in abutting engagement with said sidewallmembers wherein: said floor member, said ceiling member, said sidewalls,and said backwall member in combination defining a first storage chamberthat is positioned to receive particulates from said brush assembly; andsaid floor member, said sidewall members, said curved arcuate member,and said backwall member in combination defining a second storagechamber that is coupled to said vacuum assembly for receivingparticulates therefrom.
 34. The autonomous floor-cleaning robot of claim33 wherein said backwall member has an baffled configuration.
 35. Theautonomous floor-cleaning robot of claim 31 further comprising areplaceable filter that is snap fitted in combination with said floormember.
 36. The autonomous floor-cleaning robot of claim 31 furthercomprising a latch member mounted to said ceiling member and configuredto latch with said deck to integrate said removable dust cartridge incombination with said deck.
 37. The autonomous floor-cleaning robot ofclaim 1 wherein said motive subsystem comprises: first and second wheelsubassemblies independently mounted in combination with said chassis atopposed ends of the transverse diameter of said chassis, each said wheelsubassembly being configured for pivotal motion with respect to saidchassis; and each said wheel subassembly including a wheel and a motorcoupled to said motor for transferring torque to said wheel for rotationthereof; wherein said wheels of said first and second wheelsubassemblies are operable at the same speed to propel said autonomousfloor-cleaning robot in a straight line forward or aft, at differentspeeds to effect turning patterns for said autonomous floor-cleaningrobot, and at the same speed in opposite directions to cause saidautonomous floor-cleaning robot to turn in place.
 38. The autonomousfloor-cleaning robot of claim 1 further comprising a bumper mounted indisplaceable combination with said chassis at the forward end thereofcentered about the foreaft axis of said chassis.
 39. The autonomousfloor-cleaning robot of claim 1 further comprising a cover complementaryin configuration with said chassis and configured to be attached incombination therewith wherein said autonomous floor-cleaning robot has agenerally cylindrical configuration that is generally symmetrical alongthe fore-aft axis.
 40. The autonomous floor-cleaning robot of claim 1further comprising a sensor subsystem disposed in combination with saidautonomous floor-cleaning robot and operative to: (a) provide signals tosaid command and control module to regulate the normal cleaningoperations of said autonomous floor-cleaning robot; and (b) detectsituations that could adversely affect the normal cleaning operations ofsaid autonomous floor-cleaning robot and provide signals in response tosaid detections so that said autonomous floor-cleaning robot canimplement an appropriate response via said command and control unit. 41.An autonomous floor-cleaning robot, comprising: a housing infrastructureincluding a chassis wherein part of said chassis is configured as adeck; a power subsystem for providing the energy to power saidautonomous floor-cleaning robot; a motive subsystem operative to propelsaid autonomous floor-cleaning robot for cleaning operations; a controlmodule operative to control the said autonomous floor-cleaning robot toeffect said cleaning operations; and a cleaning head subsystem includinga dual-stage brush assembly comprising first and second asymmetricbrushes mounted in combination with said deck and powered by said motivesubsystem to sweep up particulates during cleaning operations, saidsecond brush having an outer diameter greater than said first brush, andmeans coupled to said brush assembly for collecting particulates sweptup by said brush assembly.
 42. The autonomous floor-cleaning robot ofclaim 41 wherein said first and second asymmetric brushes counter rotatewith respect to on another.
 43. The autonomous floor-cleaning robot ofclaim 41 wherein said first brush is a flapper brush configured formounting in rotatable combination with said deck and said motivesubsystem for said dual-stage brush assembly, said flapper brushincluding a plurality of spaced-apart cleaning strips.
 44. Theautonomous floor-cleaning robot of claim 46 wherein said plurality ofspaced-apart cleaning strips are arranged in a chevron pattern.
 45. Theautonomous floor-cleaning robot of claim 43 wherein said plurality ofspaced-apart cleaning strips are segmented.
 46. The autonomousfloor-cleaning robot of claim 45 wherein said plurality of segmentedcleaning strips comprises six segmented cleaning strips.
 47. Theautonomous floor-cleaning robot of claim 46 wherein said segmentedcleaning strips comprise five segments.
 48. The autonomousfloor-cleaning robot of claim 45 further comprising a bail having acastellated configuration with portions thereof press fit inserted insaid deck in such a manner so that said bail forms a shield over saiddual-stage brush assembly; and wherein said castellated configuration ofsaid bail defines the segmentation of said plurality of spaced-apartcleaning strips.
 49. The autonomous floor-cleaning robot of claim 41wherein said second brush is a main brush that comprises: a centralmember; a protective member mounted in combination with said centralmember and having end caps configured for mounting said main brush inrotatable combination with said deck and said motive subsystem for saiddual-stage brush assembly, respectively.
 50. The autonomousfloor-cleaning robot of claim 49 where said protective member includesintegral ribs configured and operative to impede the ingestion of matterby said main brush.
 51. The autonomous floor-cleaning robot of claim 50further comprising a plurality of bristles set in combination with saidcentral member to extend beyond said integral ribs and the outerdiameter defined by said end caps.
 52. The autonomous floor-cleaningrobot of claim 51 where each bristle has a diameter of approximately0.01 inches, a length of approximately 0.9 inches, and a free end havinga rounded configuration.
 53. The autonomous floor-cleaning robot ofclaim 41 wherein said dual-stage brush assembly comprises a flapperbrush and a main brush, said flapper brush configured for mounting inrotatable combination with said deck and said motive subsystem for saiddual-stage brush assembly, respectively, and including a plurality ofspaced-apart segmented cleaning strips arranged in a chevron pattern,and said main brush including a central member, a protective membermounted in combination with said central member and having end capsconfigured for mounting said main brush in rotatable combination withsaid deck and said motive subsystem for said dual-stage brush assembly,respectively, and a plurality of bristles set in combination with saidcentral member to extend beyond the outer diameter defined by said endcaps.
 54. The autonomous floor-cleaning robot of claim 53 wherein saidprotective member includes integral ribs configured and operative toimpede the ingestion of matter by said main brush.
 55. The autonomousfloor-cleaning robot of claim 54 wherein said flapper brush and saidmain brush are asymmetric, said main brush having an outer diametergreater than the outer diameter of said flapper brush; and furtherwherein said flapper brush and said main brush are counter-rotating withrespect to one another.
 56. An autonomous floor-cleaning robotcomprising: a housing infrastructure including a chassis wherein part ofsaid chassis is configured as a deck; a power subsystem for providingthe energy to power said autonomous floor-cleaning robot; a motivesubsystem operative to propel said autonomous floor-cleaning robot forcleaning operations; a control module operative to control the saidautonomous floor-cleaning robot to effect cleaning operations; and acleaning head subsystem including a dual-stage brush assembly comprisingfirst and second asymmetric brushes mounted in combination with saiddeck and powered by said motive subsystem to sweep up particulatesduring cleaning operations, said second brush having an outer diametergreater than said first brush, a vacuum assembly disposed in combinationwith said deck aft of and immediately adjacent to said dual-stage brushassembly and powered by said motive subsystem to ingest particulatesduring cleaning operations, and means coupled to said brush assembly andsaid vacuum assembly for collecting particulates swept up by said brushassembly and ingested by said vacuum assembly.
 57. The autonomousfloor-cleaning robot of claim 56 where said vacuum assembly includes: avacuum inlet having a predetermined width and gap, said vacuum inletbeing separate from and independent of the brush sweep area defined bysaid dual-stage brush assembly; a vacuum compartment formed in said deckto include a compartment floor, a contiguous compartment wall, and anaperture formed through said compartment floor; a removable compartmentcover configured to be press fitted in sealed combination with saidvacuum compartment and said vacuum inlet, said compartment cover andsaid vacuum compartment in press fitted combination defining a vacuumchamber; an impeller mounted in combination with said deck so that theinlet of said impeller is positioned within said aperture, said impellerbeing operatively connected to said motive subsystem to receive torquetherefrom; and a vacuum channel integrated in sealed combination withsaid impeller for removal of collected particulates from said vacuumchamber.
 58. The autonomous floor-cleaning robot of claim 57 whereinsaid vacuum inlet comprises: a first blade having a generallyrectangular configuration and a lateral dimension that defines saidpredetermined width of said vacuum inlet, one lateral edge of said firstblade being attached to the lower surface of said deck and extendinginto and sealed in combination with said contiguous compartment wall sothat said first blade is angled forwardly with respect to said deck; anda second blade having a generally rectangular configuration that iscomplementary to the configuration of said first blade, one lateral edgeof said second blade being disposed in sealed combination with saidremovable compartment cover; wherein said first and second blades incombination define said vacuum inlet having said predetermined width andgap.
 59. The autonomous floor-cleaning robot of claim 58 wherein thefree lateral edge of said first blade has a castellated configuration tomitigate the pushing of particulates by said vacuum inlet duringcleaning operations, said castellated configuration defining a pluralityof castellated segments along said free lateral edge.
 60. The autonomousfloor-cleaning robot of claim 59 further comprising a plurality ofprotrusions having a predetermined height, said plurality of protrusionsbeing aligned with and extending from said castellated segments; andwherein in combination the planar surface of said second blade abutsagainst said protrusions of said first blade to form said predeterminedgap of said vacuum inlet.
 61. The autonomous floor-cleaning robot ofclaim 57 wherein said vacuum inlet comprises: a first blade having agenerally rectangular configuration and a lateral dimension that definessaid predetermined width of said vacuum inlet, and wherein one lateraledge of said first blade being attached to the lower surface of saiddeck and extending into and sealed in combination with said contiguouscompartment wall so that said first blade is angled forwardly withrespect to said deck and the free lateral edge of said first blade has acastellated configuration to mitigate the pushing of particulates bysaid vacuum inlet during cleaning operations, said castellatedconfiguration defining a plurality of castellated segments along saidfree lateral edge; a second blade having a generally rectangularconfiguration that is complementary to the configuration of said firstblade, one lateral edge of said second blade being disposed in sealedcombination with said removable compartment cover; and a plurality ofprotrusions having a predetermined height, said plurality of protrusionsbeing aligned with and extending from said castellated segments; andwherein in combination the planar surface of said second blade abutsagainst said protrusions of said first blade to form said predeterminedgap of said vacuum inlet.
 62. The autonomous floor-cleaning robot ofclaim 57 wherein said aperture is formed through said compartment floorso as to be offset from the geometric center thereof; and wherein saidcompartment floor further includes guide ribs projecting upwardlytherefrom to distribute the airflow through said predetermined gap sothat a substantially constant negative pressure is maintained over saidpredetermined gap.
 63. The autonomous floor-cleaning robot as in claim41 or 56 further comprising a side brush assembly mounted in combinationwith said chassis and powered by said motive subsystem to entrainparticulates outside the periphery of said housing infrastructure and todirect such particulates towards said self-adjusting cleaning headsubsystem.
 64. The autonomous floor-cleaning robot of claim 63 whereinsaid side brush assembly comprises: a shaft having one end thereofrotatably connected to said motive subsystem for torque transferthereto; a hub connected to the other end of said shaft; brush meansconnected to said hub that is operative to entrain particulates outsidethe periphery of said housing infrastructure and to direct suchparticulates towards said self-adjusting cleaning head subsystem. 65.The autonomous floor-cleaning robot of claim 64 wherein said brush meanscomprises: opposed brush arms extending outwardly from said hub; and aset of bristles set in the free end of each said brush arm.
 66. Theautonomous floor-cleaning robot of claim 65 wherein each said brush armhas an L-shaped configuration, with the longer leg of said L-shapedconfiguration having a constant width and said set of bristles set inthe free end thereof.
 67. The autonomous floor-cleaning robot of claim41 wherein said particulate collecting means comprises a removable dustcartridge configured for integration in combination with said deck so asto be coupled to said brush assembly and said vacuum assembly.
 68. Theautonomous floor-cleaning robot of claim 67 wherein said removable dustcartridge comprises: a floor member; a ceiling member; sidewall membersjoining together said floor member and said ceiling member so that saidfloor and ceiling members extend beyond said sidewalls to define an openend; and a curved arcuate member disposed in combination with saidfloor, ceiling, and sidewall members, said curved arcuate memberdefining the rear external sidewall structure of said autonomousfloor-cleaning robot.
 69. The autonomous floor-cleaning robot of claim68 wherein the free end of said floor member is angled and includes aplurality of projections with interact with said brush assembly toremove entrained debris therefrom.
 70. The autonomous floor-cleaningrobot of claim 69 further comprising an backwall member mounted betweensaid floor and ceiling members in abutting engagement with said sidewallmembers wherein: said floor member, said ceiling member, said sidewalls,and said backwall member in combination defining a first storage chamberthat is positioned to receive particulates from said brush assembly; andsaid floor member, said sidewall members, said curved arcuate member,and said backwall member in combination defining a second storagechamber that is coupled to said vacuum assembly for receivingparticulates therefrom.
 71. The autonomous floor-cleaning robot of claim70 wherein said backwall member has an baffled configuration.
 72. Theautonomous floor-cleaning robot of claim 68 further comprising areplaceable filter that is snap fitted in combination with said floormember.
 73. The autonomous floor-cleaning robot of claim 68 furthercomprising a latch member mounted to said ceiling member and configuredto latch with said deck to integrate said removable dust cartridge incombination with said deck.
 74. The autonomous floor-cleaning robot ofclaim 41 wherein said motive subsystem comprises: first and second wheelsubassemblies independently mounted in combination with said chassis atopposed ends of the transverse diameter of said chassis, each said wheelsubassembly being configured for pivotal motion with respect to saidchassis; and each said wheel subassembly including a wheel and a motorcoupled to said motor for transferring torque to said wheel for rotationthereof; wherein said wheels of said first and second wheelsubassemblies are operable at the same speed to propel said autonomousfloor-cleaning robot in a straight line forward or aft, at differentspeeds to effect turning patterns for said autonomous floor-cleaningrobot, and at the same speed in opposite directions to cause saidautonomous floor-cleaning robot to turn in place.
 75. The autonomousfloor-cleaning robot of claim 41 further comprising a bumper mounted indisplaceable combination with said chassis at the forward end thereofcentered about the foreaft axis of said chassis.
 76. The autonomousfloor-cleaning robot of claim 41 further comprising a covercomplementary in configuration with said chassis and configured to beattached in combination therewith wherein said autonomous floor-cleaningrobot has a generally cylindrical configuration that is generallysymmetrical along the fore-aft axis.
 77. The autonomous floor-cleaningrobot of claim 41 further comprising a sensor subsystem disposed incombination with said autonomous floor-cleaning robot and operative to:(a) provide signals to said command and control module to regulate thenormal cleaning operations of said autonomous floor-cleaning robot; and(b) detect situations that could adversely affect the normal cleaningoperations of said autonomous floor-cleaning robot and provide signalsin response to said detections so that said autonomous floor-cleaningrobot can implement an appropriate response via said command and controlunit.